constraints: Implemented pulley

misyltoad · Aug 15, 2024 · 25fa7b3 · 25fa7b3
1 parent 8afe4c9
commit 25fa7b3
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Showing 4 changed files with 38 additions and 2 deletions.
diff --git a/vphysics_jolt/cbase.h b/vphysics_jolt/cbase.h
@@ -126,6 +126,7 @@
 #include <Jolt/Physics/Constraints/SixDOFConstraint.h>
 #include <Jolt/Physics/Constraints/DistanceConstraint.h>
 #include <Jolt/Physics/Constraints/SliderConstraint.h>
+#include <Jolt/Physics/Constraints/PulleyConstraint.h>
 #include <Jolt/Physics/Vehicle/VehicleConstraint.h>
 #include <Jolt/Physics/Vehicle/VehicleCollisionTester.h>
 #include <Jolt/Physics/Vehicle/WheeledVehicleController.h>

diff --git a/vphysics_jolt/vjolt_constraints.cpp b/vphysics_jolt/vjolt_constraints.cpp
@@ -566,6 +566,39 @@ void JoltPhysicsConstraint::InitialiseLength( IPhysicsConstraintGroup *pGroup, c
 	m_pPhysicsSystem->AddConstraint( m_pConstraint );
 }
 
+//-------------------------------------------------------------------------------------------------
+// Pulley
+//-------------------------------------------------------------------------------------------------
+
+void JoltPhysicsConstraint::InitialisePulley( IPhysicsConstraintGroup *pGroup, const constraint_pulleyparams_t &pulley )
+{
+	SetGroup( pGroup );
+	m_ConstraintType = CONSTRAINT_PULLEY;
+
+	// Get our bodies
+	JPH::Body* refBody = m_pObjReference->GetBody();
+	JPH::Body* attBody = m_pObjAttached->GetBody();
+
+	JPH::PulleyConstraintSettings settings;
+	settings.mNumVelocityStepsOverride = vjolt_constraint_velocity_substeps.GetInt();
+	settings.mNumPositionStepsOverride = vjolt_constraint_position_substeps.GetInt();
+	settings.mSpace = JPH::EConstraintSpace::LocalToBodyCOM;
+	settings.mBodyPoint1 = SourceToJolt::Distance( pulley.objectPosition[0] ) - refBody->GetShape()->GetCenterOfMass();
+	settings.mBodyPoint2 = SourceToJolt::Distance( pulley.objectPosition[1] ) - attBody->GetShape()->GetCenterOfMass();
+
+	settings.mFixedPoint1 = SourceToJolt::Distance( pulley.pulleyPosition[0] );
+	settings.mFixedPoint2 = SourceToJolt::Distance( pulley.pulleyPosition[1] );
+
+	settings.mRatio = pulley.gearRatio;
+
+	settings.mMaxLength = SourceToJolt::Distance( pulley.totalLength ); // PiMoN: from my testing, it is the same value as Jolt would calculate automatically
+
+	m_pConstraint = settings.Create( *refBody, *attBody );
+	m_pConstraint->SetEnabled( !pGroup && pulley.constraint.isActive );
+
+	m_pPhysicsSystem->AddConstraint( m_pConstraint );
+}
+
 //-------------------------------------------------------------------------------------------------
 
 void JoltPhysicsConstraint::SaveConstraintSettings( JPH::StateRecorder &recorder )

diff --git a/vphysics_jolt/vjolt_constraints.h b/vphysics_jolt/vjolt_constraints.h
@@ -79,6 +79,7 @@ class JoltPhysicsConstraint final : public IPhysicsConstraint, public IJoltObjec
 	void InitialiseBallsocket( IPhysicsConstraintGroup *pGroup, const constraint_ballsocketparams_t &ballsocket );
 	void InitialiseFixed( IPhysicsConstraintGroup *pGroup, const constraint_fixedparams_t &fixed );
 	void InitialiseLength( IPhysicsConstraintGroup *pGroup, const constraint_lengthparams_t &length );
+	void InitialisePulley( IPhysicsConstraintGroup *pGroup, const constraint_pulleyparams_t &pulley );
 
 	void SaveConstraintSettings( JPH::StateRecorder &recorder );
 

diff --git a/vphysics_jolt/vjolt_environment.cpp b/vphysics_jolt/vjolt_environment.cpp
@@ -629,8 +629,9 @@ IPhysicsConstraint *JoltPhysicsEnvironment::CreateBallsocketConstraint( IPhysics
 
 IPhysicsConstraint *JoltPhysicsEnvironment::CreatePulleyConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_pulleyparams_t &pulley )
 {
-	Log_Stub( LOG_VJolt );
-	return nullptr;
+	JoltPhysicsConstraint *pConstraint = new JoltPhysicsConstraint( this, pReferenceObject, pAttachedObject );
+	pConstraint->InitialisePulley( pGroup, pulley );
+	return pConstraint;
 }
 
 IPhysicsConstraint *JoltPhysicsEnvironment::CreateLengthConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_lengthparams_t &length )